Multi-Contact Motion Generation: Continuous Constraints and Contact Forces

Autor: Lengagne, Sebastien, Mathieu, Paul, Kheddar, Abderrahmane, Yoshida, Eiichi

Publikováno v: 28th annual conference of the Robotics Society of Japan (RSJ)
28th annual conference of the Robotics Society of Japan (RSJ), Sep 2010, Nagoya, Japan

This paper proposes a new computation method to plan multi-contact motions. The first problem is to deal with continuous equality and inequality constraint which rely on the physical limits of the robot and on the properties of the desired motion. Th

Externí odkaz: https://explore.openaire.eu/search/publication?articleId=od______2885::ea86487658267b2a534e6e06f6363428
https://hal.science/hal-03935634/file/Lengagne_RSJ2010.pdf